DIY Automatic Cat Feeder

// Automatic cat feeder made by: J. Rundhall

//Original code for steper from :Sketch by R. Jordan Kreindler, written October 2016, to rotate

float RPM;

boolean isButtonpressed = false;

unsigned long timee;


// Pin assignments

int buttonPIN = 6;

int aPin = 4; //IN1: coil a one end

int bPin = 3; //IN2: coil b one end

int aPrimePin = 5; //IN3: coil aPrime other end of coil a

int bPrimePin = 2; //IN4: coil bPrime other end of coil b

int one = aPin;

int two = bPin;

int three = aPrimePin;

int four = bPrimePin;

int degrees = 0;

//int delay1 = 20; // The delay between each step in milliseconds
int delay1 = 5; // The delay between each step in milliseconds

//int delay2 = 50; // The delay after each full revolution, in milliseconds
int delay2 = 200; // The delay after each full revolution, in milliseconds

int count = 0; // The number of steps

int numberOfRotations = 1; // The number of times the rotor has

// turned 360 degrees.

void setup() {

// Set all pins as output to send output signals from the Arduino

// UNO to the coil windings of the stator

Serial.begin(9600);     // opens serial port, sets data rate to 9600 bps

  pinMode(6, INPUT_PULLUP);  //Button

pinMode(aPin, OUTPUT);

pinMode(bPin, OUTPUT);

pinMode(aPrimePin, OUTPUT);

pinMode(bPrimePin, OUTPUT);

Serial.println(" Clockwise");

// Start with all coils off

digitalWrite(aPin, LOW);

digitalWrite(bPin, LOW);

digitalWrite(aPrimePin, LOW);

digitalWrite(bPrimePin, LOW);

for(int ii=0;ii<20;ii++)
  doTurn();

}

void loop() {

 //read the pushbutton value into a variable
  int sensorVal = digitalRead(6);
  // Keep in mind the pull-up means the pushbutton's logic is inverted. It goes
  // HIGH when it's open, and LOW when it's pressed. Turn on pin 13 when the
  // button's pressed, and off when it's not:
  if (sensorVal == LOW) {
    isButtonpressed = true;
  } else {
    if(isButtonpressed)
    {
      isButtonpressed = false;
      doTurn();
      digitalWrite(aPin, LOW);
      
      digitalWrite(bPin, LOW);
      
      digitalWrite(aPrimePin, LOW);
      
      digitalWrite(bPrimePin, LOW);
    }
    
  }
}


void doTurn()
{
        
      // Send current to
      
      // 1. The aPin
      
      // 2. The aPin, and the bPin
      
      // 3. The bPin
      
      // 4. Then to the bPin and the aPrimePin
      
      // 5. Then to the aPrimePin
      
      // 6. Then to the aPrimePin and the bPrime Pin
      
      // 7. Then to the bPrimePin
      
      // 8. Then the bPrimePin and the aPin.
      
      // Thus producing steps using the half step method
      
      // 1. Set the aPin High
      
      digitalWrite(aPin, HIGH);
      
      digitalWrite(bPin, LOW);
      
      digitalWrite(aPrimePin, LOW);
      
      digitalWrite(bPrimePin, LOW);
      
      // Allow some delay between energizing the coils to allow
      
      // the stepper rotor time to respond.
      
      delay(delay1); // So, delay1
      
      // 2. Energize aPin and bPin to HIGH
      
      digitalWrite(aPin, HIGH);
      
      digitalWrite(bPin, HIGH);
      
      digitalWrite(aPrimePin, LOW);
      
      digitalWrite(bPrimePin, LOW);
      
      // Allow some delay between energizing the coils to allow
      
      // the stepper rotor time to respond.
      
      delay(delay1); // So, delay1 milliseconds
      
      // 3. Set the bPin to High
      
      digitalWrite(aPin, LOW);
      
      digitalWrite(bPin, HIGH);
      
      digitalWrite(aPrimePin, LOW);
      
      digitalWrite(bPrimePin, LOW);
      
      // Allow some delay between energizing the coils to allow
      
      // the stepper rotor time to respond.
      
      delay(delay1); // So, delay1 milliseconds
      
      // 4. Set the bPin and the aPrimePin to HIGH
      
      digitalWrite(aPin, LOW);
      
      digitalWrite(bPin, HIGH);
      
      digitalWrite(aPrimePin, HIGH);
      
      digitalWrite(bPrimePin, LOW);
      
      // Allow some delay between energizing the coils to allow
      
      // the stepper rotor time to respond.
      
      delay(delay1); // So, delay1 milliseconds
      
      // 5. Set the aPrime Pin to high
      
      digitalWrite(aPin, LOW);
      
      digitalWrite(bPin, LOW);
      
      digitalWrite(aPrimePin, HIGH);
      
      digitalWrite(bPrimePin, LOW);
      
      // Allow some delay between energizing the coils to allow
      
      // the stepper rotor time to respond.
      
      delay(delay1); // So, delay1 milliseconds
      
      // 6. Set the aPrimePin and the bPrime Pin to HIGH
      
      digitalWrite(aPin, LOW);
      
      digitalWrite(bPin, LOW);
      
      digitalWrite(aPrimePin, HIGH);
      
      digitalWrite(bPrimePin, HIGH);
      
      // Allow some delay between energizing the coils to allow
      
      // the stepper rotor time to respond.
      
      delay(delay1); // So, delay1 milliseconds
      
      // 7. Set the bPrimePin to HIGH
      
      digitalWrite(aPin, LOW);
      
      digitalWrite(bPin, LOW);
      
      digitalWrite(aPrimePin, LOW);
      
      digitalWrite(bPrimePin, HIGH);
      
      // Allow some delay between energizing the coils to allow
      
      // the stepper rotor time to respond.
      
      delay(delay1); // So, delay1 milliseconds
      
      // 8. Set the bPrimePin and the aPin to HIGH
      
      digitalWrite(aPin, HIGH);
      
      digitalWrite(bPin, LOW);
      
      digitalWrite(aPrimePin, LOW);
      
      digitalWrite(bPrimePin, HIGH);
      
      // Allow some delay between energizing the coils to allow
      
      // the stepper rotor time to respond.
      
      delay(delay1); // So, delay1 milliseconds
      
      count = count + 8;
      
      degrees = (360.0 * (count / 400.0));
      
      if ((numberOfRotations % 2) == 1) { // Check if number of rotations is even
      
      Serial.println(" Clockwise ");
      
      
      Serial.println(degrees); // Print angular position in degrees
      
      
      }
      
      else { // If numberOfRotations is odd number
      
      Serial.println(" Anti-Clockwise ");
      
      degrees = 360 - degrees;
      
      
      Serial.print(" -"); // Print a minus sign
      
      Serial.println(degrees); // Print angular position in degrees
      
      
      
      }
      
      if (count == 160) { // A full revolution of the stepper
      
              numberOfRotations = ++numberOfRotations;
              
              timee = millis();
              
              RPM = timee / numberOfRotations; // Average time of a rotation
              
              RPM = (60000.00 / RPM); // Number of rotations per minute
              
              if (numberOfRotations >= 10) {
              
              
              Serial.print("RPM:");
              
              Serial.println(round(RPM)); //Print RPM as integer
              
      
      }
      
      delay(delay2); // delay2/1000 second(s) after each full rotation
      
      count = 0; // Reset step counter to zero

      
      
      //Reversive direction after each turn
      
      if ((numberOfRotations) % 2 == 0) { // Check if number of rotations is even
      
            // if so reverse direction
            
            aPin = four;
            
            bPin = three;
            
            aPrimePin = two;
            
            bPrimePin = one;
      
      }
      
      else { // If number of rotations is an odd number
      
            aPin = one;
            
            bPin = two;
            
            aPrimePin = three;
            
            bPrimePin = four;
      
      }
      digitalWrite(aPin, LOW);
      
      digitalWrite(bPin, LOW);
      
      digitalWrite(aPrimePin, LOW);
      
      digitalWrite(bPrimePin, LOW);
      }

      
 }